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A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton
A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6111717/ https://www.ncbi.nlm.nih.gov/pubmed/30072609 http://dx.doi.org/10.3390/s18082522 |
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author | Copaci, Dorin Serrano, David Moreno, Luis Blanco, Dolores |
author_facet | Copaci, Dorin Serrano, David Moreno, Luis Blanco, Dolores |
author_sort | Copaci, Dorin |
collection | PubMed |
description | A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according to data collected online during the first seconds of a therapy session. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the reference position pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm was tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles, in combination with pressure sensors that measure arm–exoskeleton interaction, can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according to a patient’s intention. |
format | Online Article Text |
id | pubmed-6111717 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-61117172018-08-30 A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton Copaci, Dorin Serrano, David Moreno, Luis Blanco, Dolores Sensors (Basel) Article A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according to data collected online during the first seconds of a therapy session. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the reference position pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm was tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles, in combination with pressure sensors that measure arm–exoskeleton interaction, can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according to a patient’s intention. MDPI 2018-08-02 /pmc/articles/PMC6111717/ /pubmed/30072609 http://dx.doi.org/10.3390/s18082522 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Copaci, Dorin Serrano, David Moreno, Luis Blanco, Dolores A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title | A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title_full | A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title_fullStr | A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title_full_unstemmed | A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title_short | A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton |
title_sort | high-level control algorithm based on semg signalling for an elbow joint sma exoskeleton |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6111717/ https://www.ncbi.nlm.nih.gov/pubmed/30072609 http://dx.doi.org/10.3390/s18082522 |
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